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ouster-ros Update for fw 2.1. See changelog for details. (ouster-lida…
…r#259) * Add support for the new signal_multiplier config parameter * Add support for the new 8-bit reflectivity format in simple_viz * Update Python ouster-sdk package to version 0.2.1, bugfix release * Remove viz_node and graphics packages from ROS build dependencies * Ensure ouster_ros dependencies can be satisfied using rosdep * Various improvements to the ROS img node output
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,61 @@ | ||
| ARG ROS_DISTRO=melodic | ||
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| FROM ros:${ROS_DISTRO}-ros-core AS build-env | ||
| ENV DEBIAN_FRONTEND=noninteractive \ | ||
| BUILD_HOME=/var/lib/build \ | ||
| OUSTER_SDK_PATH=/opt/ouster_example | ||
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| RUN set -xue \ | ||
| # Kinetic and melodic have python3 packages but they seem to conflict | ||
| && [ $ROS_DISTRO = "noetic" ] && PY=python3 || PY=python \ | ||
| # Turn off installing extra packages globally to slim down rosdep install | ||
| && echo 'APT::Install-Recommends "0";' > /etc/apt/apt.conf.d/01norecommend \ | ||
| && apt-get update \ | ||
| && apt-get install -y \ | ||
| build-essential cmake \ | ||
| fakeroot dpkg-dev debhelper \ | ||
| $PY-rosdep $PY-rospkg $PY-bloom | ||
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| # Set up non-root build user | ||
| ARG BUILD_UID=1000 | ||
| ARG BUILD_GID=${BUILD_UID} | ||
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| RUN set -xe \ | ||
| && groupadd -o -g ${BUILD_GID} build \ | ||
| && useradd -o -u ${BUILD_UID} -d ${BUILD_HOME} -rm -s /bin/bash -g build build | ||
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| # Install build dependencies using rosdep | ||
| COPY --chown=build:build ouster_ros/package.xml ${OUSTER_SDK_PATH}/ouster_ros/package.xml | ||
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| RUN set -xe \ | ||
| && apt-get update \ | ||
| && rosdep init \ | ||
| && rosdep update --rosdistro=${ROS_DISTRO} \ | ||
| && rosdep install -y --from-paths ${OUSTER_SDK_PATH} | ||
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| # Set up build environment | ||
| COPY --chown=build:build cmake ${OUSTER_SDK_PATH}/cmake | ||
| COPY --chown=build:build ouster_client ${OUSTER_SDK_PATH}/ouster_client | ||
| COPY --chown=build:build ouster_viz ${OUSTER_SDK_PATH}/ouster_viz | ||
| COPY --chown=build:build ouster_ros ${OUSTER_SDK_PATH}/ouster_ros | ||
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| USER build:build | ||
| WORKDIR ${BUILD_HOME} | ||
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| RUN set -xe \ | ||
| && mkdir src \ | ||
| && ln -s ${OUSTER_SDK_PATH} ./src | ||
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| FROM build-env | ||
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| RUN /opt/ros/${ROS_DISTRO}/env.sh catkin_make -DCMAKE_BUILD_TYPE=Release | ||
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| # Entrypoint for running Ouster ros: | ||
| # | ||
| # Usage: docker run --rm -it ouster-ros [ouster.launch parameters ..] | ||
| # | ||
| ENTRYPOINT ["bash", "-c", "set -e \ | ||
| && . ./devel/setup.bash \ | ||
| && roslaunch ouster_ros ouster.launch \"$@\" \ | ||
| ", "ros-entrypoint"] |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,7 +1,7 @@ | ||
| <?xml version="1.0"?> | ||
| <package format="2"> | ||
| <name>ouster_ros</name> | ||
| <version>0.1.0</version> | ||
| <version>0.2.0</version> | ||
| <description>Ouster example ROS client</description> | ||
| <maintainer email="[email protected]">ouster developers</maintainer> | ||
| <license>BSD</license> | ||
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@@ -11,17 +11,14 @@ | |
| <depend>std_msgs</depend> | ||
| <depend>sensor_msgs</depend> | ||
| <depend>geometry_msgs</depend> | ||
| <depend>pcl_ros</depend> | ||
| <depend>pcl_conversions</depend> | ||
| <depend>tf2_ros</depend> | ||
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| <build_depend>libjsoncpp-dev</build_depend> | ||
| <build_depend>eigen</build_depend> | ||
| <build_depend>message_generation</build_depend> | ||
| <build_depend>tf2</build_depend> | ||
| <build_depend>tf2_ros</build_depend> | ||
| <build_depend>tf2_geometry_msgs</build_depend> | ||
| <build_depend>libglew-dev</build_depend> | ||
| <build_depend>libglfw3-dev</build_depend> | ||
| <build_depend>tf2_eigen</build_depend> | ||
| <build_depend>libpcl-all-dev</build_depend> | ||
| <build_depend>pcl_conversions</build_depend> | ||
| <build_depend>libtclap-dev</build_depend> | ||
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| <exec_depend>libjsoncpp</exec_depend> | ||
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